From 5586f0dace08415f2566e7de813afd3fa81b1dfa Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Sat, 9 May 2026 13:33:14 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E6=89=AB=E6=8F=8F=E6=9E=81?=
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---
 .../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c       | 17 ++++++++++-------
 .../services/USBSerialPortHelper.java           |  9 +--------
 2 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index 968859d..9e6cf6f 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -173,7 +173,7 @@ void IO_Control()
 #define FORWARD_STATE 11
 #define BACKWARD_STATE 21
 
-int32_t MaxLaserSensor = -255; // 激光传感器最大值，初始化为非法值
+int32_t MaxLaserSensor = 10000; // 激光传感器最大值，初始化为非法值
 int32_t knife_descent_height = -255; // "下降高度"迭代值，初始赋值为非法值
 int32_t ScanTimeCount = 0;
 int32_t ScanState = RISE_KINFE_STATE;
@@ -183,8 +183,9 @@ void Automatic_Laser_Scanning()
 {
     CurrentMoveState = Manual_State;
     CurrentFrontEndState = HALT_STATE;
+    knife_descent_height = 0;
 
-    if(GV.MK32_Key.CH7_SD == -1000)
+    if(GV.MK32_Key.CH7_SD == 1000)
     {
         StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE; //刀具不转动
 
@@ -192,9 +193,11 @@ void Automatic_Laser_Scanning()
         int32_t b = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
         int32_t c = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
 
-        int32_t max = (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c);
-
-        MaxLaserSensor = (max < MaxLaserSensor) ? max : MaxLaserSensor;
+        if (a != 0 && b != 0 && c != 0)
+        {
+            int32_t max = (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c);
+            MaxLaserSensor = (max < MaxLaserSensor) ? max : MaxLaserSensor;
+        }
 
         #if 0
         if (RISE_KINFE_STATE == ScanState)
@@ -258,7 +261,7 @@ void Automatic_Operation()
     int32_t knife_current_altitude = 0; // 激光1读数
     uint8_t IsAllowRotation_AutoMode = 0; // 是否允许转刀
 
-    if (-255 == knife_descent_height && -255 == MaxLaserSensor)
+    if (-255 == knife_descent_height)
     {
         // 跑到这说明一上来直接自动作业了，没有先进行扫描
         return;
@@ -310,7 +313,7 @@ void Automatic_Operation()
 	else if(GV.MK32_Key.CH7_SD == 1000)
     {
         knife_flag = 1; // 关闭自动作业时恢复标志
-        MaxLaserSensor = -255; // 恢复为未扫描状态
+        MaxLaserSensor = 10000; // 恢复为未扫描状态
         knife_descent_height = -255; // 恢复为未扫描状态
 		CurrentMoveState = Move_HALT;
         CurrentFrontEndState = HALT_STATE;
diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
index c43991f..bb181a1 100644
--- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
+++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java
@@ -367,14 +367,7 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
                 activityPolish.mainBinding.kinfePosition.setText(String.format("%.2f", (double)_toReceiveIV1.getKinfePosition() / 20000));
             }
 
-            if (_toReceiveIV1.getMaxLaserSensor() == -255)
-            {
-                activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
-            }
-            else
-            {
-                activityPolish.mainBinding.maxLaserSensor.setText((String.format("%.1f", _toReceiveIV1.getMaxLaserSensor() / 100.0)));
-            }
+            activityPolish.mainBinding.maxLaserSensor.setText((String.format("%.1f", _toReceiveIV1.getMaxLaserSensor() / 100.0)));
         }
     }